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...la_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/velodyne_packet.hpp
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| @@ -0,0 +1,103 @@ | ||
| #pragma once | ||
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| #include <cstddef> | ||
| #include <cstdint> | ||
| #include <ctime> | ||
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| namespace nebula | ||
| { | ||
| namespace drivers | ||
| { | ||
| namespace velodyne_packet | ||
| { | ||
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| /** | ||
| * Raw Velodyne packet constants and structures. | ||
| */ | ||
| static const int SIZE_BLOCK = 100; | ||
| static const int RAW_SCAN_SIZE = 3; // TODO: remove | ||
| static const int RAW_CHANNEL_SIZE = 3; | ||
| static const int SCANS_PER_BLOCK = 32; // TODO: remove | ||
| static const int CHANNELS_PER_BLOCK = 32; | ||
| static const int BLOCK_DATA_SIZE = (SCANS_PER_BLOCK * RAW_SCAN_SIZE); | ||
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| static const double ROTATION_RESOLUTION = 0.01; // [deg] | ||
| static const uint16_t ROTATION_MAX_UNITS = 36000u; // [deg/100] | ||
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| static const size_t RETURN_MODE_INDEX = 1204; | ||
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| /** @todo make this work for both big and little-endian machines */ | ||
| static const uint16_t UPPER_BANK = 0xeeff; | ||
| static const uint16_t LOWER_BANK = 0xddff; | ||
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| /** Return Modes **/ | ||
| static const uint16_t RETURN_MODE_STRONGEST = 55; | ||
| static const uint16_t RETURN_MODE_LAST = 56; | ||
| static const uint16_t RETURN_MODE_DUAL = 57; | ||
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| const int PACKET_SIZE = 1206; | ||
| const int BLOCKS_PER_PACKET = 12; | ||
| const int PACKET_STATUS_SIZE = 4; | ||
| const int SCANS_PER_PACKET = (SCANS_PER_BLOCK * BLOCKS_PER_PACKET); | ||
| const int POINTS_PER_PACKET = (SCANS_PER_PACKET * RAW_SCAN_SIZE); | ||
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| #pragma pack(push, 1) | ||
| /** \brief Raw Velodyne data block. | ||
| * | ||
| * Each block contains data from either the upper or lower laser | ||
| * bank. The device returns three times as many upper bank blocks. | ||
| * | ||
| * use stdint.h types, so things work with both 64 and 32-bit machines | ||
| */ | ||
| typedef struct raw_block | ||
| { | ||
| uint16_t header; ///< UPPER_BANK or LOWER_BANK | ||
| uint16_t rotation; ///< 0-35999, divide by 100 to get degrees | ||
| uint8_t data[BLOCK_DATA_SIZE]; | ||
| } raw_block_t; | ||
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| /** \brief Raw Velodyne packet. | ||
| * | ||
| * revolution is described in the device manual as incrementing | ||
| * (mod 65536) for each physical turn of the device. Our device | ||
| * seems to alternate between two different values every third | ||
| * packet. One value increases, the other decreases. | ||
| * | ||
| * \todo figure out if revolution is only present for one of the | ||
| * two types of status fields | ||
| * | ||
| * status has either a temperature encoding or the microcode level | ||
| */ | ||
| typedef struct raw_packet | ||
| { | ||
| raw_block_t blocks[BLOCKS_PER_PACKET]; | ||
| uint16_t revolution; | ||
| uint8_t status[PACKET_STATUS_SIZE]; | ||
| } raw_packet_t; | ||
| #pragma pack(pop) | ||
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| /** used for unpacking the first two data bytes in a block | ||
| * | ||
| * They are packed into the actual data stream misaligned. I doubt | ||
| * this works on big endian machines. | ||
| */ | ||
| union two_bytes { | ||
| uint16_t uint; | ||
| uint8_t bytes[2]; | ||
| }; | ||
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| /** \brief Velodyne echo types */ | ||
| enum RETURN_TYPE { | ||
| INVALID = 0, | ||
| SINGLE_STRONGEST = 1, | ||
| SINGLE_LAST = 2, | ||
| DUAL_STRONGEST_FIRST = 3, | ||
| DUAL_STRONGEST_LAST = 4, | ||
| DUAL_WEAK_FIRST = 5, | ||
| DUAL_WEAK_LAST = 6, | ||
| DUAL_ONLY = 7 | ||
| }; | ||
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| } // namespace hesai_packet | ||
| } // namespace drivers | ||
| } // namespace nebula |
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